A biohybrid fly-robot interface system that performs active collision avoidance

Abstract

Abstract We have designed a bio-hybrid fly-robot interface (FRI) to study sensorimotor control in insects. The FRI consists of a miniaturized recording platform mounted on a two-wheeled robot and is controlled by the neuronal spiking activity of an identified visual interneuron, the blowfly H1-cell. For a given turning radius of the robot, we found a proportional relationship between the spike rate of the H1-cell and the relative distance of the FRI from the patterned wall of an experimental arena. Under closed-loop conditions during oscillatory forward movements biased towards the wall, collision avoidance manoeuvres were triggered whenever the H1-cell spike rate exceeded a certain threshold value. We also investigated the FRI behaviour in corners of the arena. The ultimate goal is to enable autonomous and energy-efficient manoeuvrings of the FRI within arbitrary visual environments.